Generation of Walking Motions for the Biped Ascending Slopes Based on Genetic Algorithm
| Autor: | Chao Zhang, Jinye Liang, Lulu Gong, Ruowei Zhao, Ying Xu, Jindong Yao, Fangfei Guo, Ming Zhu, Haiyan He, Lei Li, Zhihong Chen, Xinchen Qiu, Xiaolu Tai |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
02 engineering and technology Energy consumption Swing Stride length Computer Science::Robotics Preferred walking speed Ground level 020901 industrial engineering & automation Mathematics::Probability Control theory Genetic algorithm 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Energy (signal processing) ComputingMethodologies_COMPUTERGRAPHICS Mathematics |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783319938141 ICSI (1) |
| DOI: | 10.1007/978-3-319-93815-8_20 |
| Popis: | This study aims to generate the optimal trajectories for the biped walking up sloping surfaces after ensuring the minimum energy consumption by using genetic algorithm (GA) and motion/force control scheme. During optimization, the step length, the maximum height of swing foot and walking speed were optimized with the seven-link biped model. The impactless bipedal walking was investigated for walking on the ground level and slopes with different gradients, respectively. The results showed that the biped consumed more energy when the optimal walking speed increased for walking on the same slopes. There were no great differences in optimal step length when the biped changed the walking speed. The results showed that the proposed approach is able to generate optimal gaits for the biped simply by changing boundary conditions with GA. |
| Databáze: | OpenAIRE |
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